# This represents a control structure for a Maxon motor attached to an EPOS 2 controller.  
# The node_id is the node_id set on the epos controller itself
# The control_mode corresponds with the desired mode of control
# The setpoint corresponds with the desired value for the selected mode

# Control Mode Options
uint8 VELOCITY =1
uint8 ABSOLUTE_POSITION = 2
uint8 ABSOLUTE_POSITION_IMMEDIATE = 3
uint8 RELATIVE_POSITION = 4
uint8 RELATIVE_POSITION_IMMEDIATE = 5


uint16 node_id
uint8 control_mode
int32 setpoint




